激光加工机器人自标定研究

Autonomous Calibration Research of Laser Processing Robot

介绍一种机器人自标定方法,通过固定于机器人末端执行器上的探针与工作空间中的约束平面接触,建立运动学约束方程,利用机器人内部传感器读数来辨识机器人运动学参数,约束平面的位置无需准确知道。该方法无需任何外部测量设备,适于定期现场再标定。对某激光加工机器人的仿真结果表明,该方法可以达到其它标定法如几何参数标定法所能达到的标定精度。

This paper presents a robot autonomous calibration approach, the kinematics equations are built through the probe fixed in the endeffector contacting the constraint planes in the workspace, The robot internal sensor measurements are recorded for kinematics calibration while the tip - point of the probe is in contact with the constraint planes, the locations of the constraint planes are not necessarily known exactly. This method eliminates any use of external measuring devices, and is suitable for a periodic robot re- calibration. Simulation results on a laser processing robot show that this method can achieve the same calibration accuracy as that of the other traditional calibration approach such as geometrical parameter calibration.